CN104713570B - Utilize the method and apparatus of triboelectricity measurement object of which movement parameter - Google Patents
Utilize the method and apparatus of triboelectricity measurement object of which movement parameter Download PDFInfo
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- CN104713570B CN104713570B CN201310687680.4A CN201310687680A CN104713570B CN 104713570 B CN104713570 B CN 104713570B CN 201310687680 A CN201310687680 A CN 201310687680A CN 104713570 B CN104713570 B CN 104713570B
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- sliding part
- fixture
- frictional layer
- kinematic parameter
- strip
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a kind of apparatus and method for measuring object of which movement parameter, device includes sliding part and at least two fixtures, fixture is arranged and fixed on a tested direction specified, sliding part can move on tested direction and produce sliding friction with multiple fixtures respectively, testee is fixed on sliding part, the frictional layer of sliding part and the frictional layer of fixture are made up of the material with differentiated friction electricity sequence, and the amplitude of caused electric signal is unequal between sliding part and different fixtures.Methods described is to measure caused electric signal between sliding part and the fixture and the direction of motion of the testee is obtained according to the electric signal, and the speed and acceleration of the distance between time and fixture of fixture measurement testee are reached further according to sliding part.The motion-sensing driven in vain can be achieved in the present invention, and principle is simple, easy to make.
Description
Technical field
The invention belongs to the field of measuring technique of motion, and in particular to measure object of which movement parameter using triboelectricity
Method and apparatus.
Background technology
Two kinds of materials of diverse location in triboelectric series are come, due to keeping electronics（Electric charge）Ability it is different, mutually rub
During wiping, meeting be become positively charged respectively due to the transfer of electric charge and negative electricity.Friction nanometer power generator can be made based on this principle, it is adopted
Friction material is used as by the use of nano material.It is different according to the way of contact of rubbing surface, friction nanometer power generator be divided into again contact-point
From formula friction nanometer power generator and slidingtype friction nanometer power generator.However, existing friction nanometer power generator is all direct profit
With mechanical energy by the electric energy for the conversion that rubs to be powered to external devices, the output electric signal to friction nanometer power generator
Change is without analyzing and applying.
The equipment of existing measurement object of which movement parameter common are GPS, velocity radar, wireless base station positioning etc., more
Based on principles such as gyroscope, Doppler effect, the transmittings and reception of electromagnetic wave.But they need externally fed, it is impossible to accomplish
It is self-driven.The equipment of existing wide variety of measurement object of which movement parameter is more for macroscopically large scale, less pin in addition
To small yardstick.
The content of the invention
（One）Technical problems to be solved
The technical problems to be solved by the invention are the equipment spininess of existing wide variety of measurement object of which movement parameter
It is less to be directed to small yardstick, it is necessary to externally fed, it is impossible to accomplish self-driven to macroscopically large scale.
（Two）Technical scheme
In order to solve the above technical problems, one aspect of the present invention is to propose that a kind of measurement object moves in one-dimensional square
The device of parameter, including a sliding part, at least two fixtures, the tested side that at least two fixture is specified at one
Arrange and fixed, the sliding part upwards（101）It can be moved on the tested direction and respectively with described at least two
Fixture produces sliding friction, and the sliding part and at least two fixture include frictional layer, and the sliding part rubs
The frictional layer for wiping layer and at least two fixture is made up of the material with differentiated friction electricity sequence；The sliding part with it is described
The amplitude of caused electric signal is unequal between at least two fixtures.
According to a kind of embodiment of this aspect of the present invention, each frictional layer not as the one of sliding friction surface
Face is respectively connected with a conductive layer；Or in the sliding part, at least two fixture at least one frictional layer material
Expect for conductive material, the frictional layer being constructed from a material that be electrically conducting is not connected to other conductive layers, and the cunning directly as conductive layer
Caused electric signal refers to the conductive layer and described at least two of the sliding part between moving part and at least two fixture
Caused electric signal between conductive layer between fixture.
According to a kind of embodiment of this aspect of the present invention, the frictional layer of at least two fixture is using identical
The material of triboelectric series, but sliding friction area is different；Or the frictional layer of at least two fixture has identical
Sliding friction area, but be made up of the material of differentiated friction electricity sequence.
According to a kind of embodiment of this aspect of the present invention, the frictional layer of at least two fixture is using identical
The material of triboelectric series, the sliding part, at least two fixture are rectangular strip, and each rectangular strip has equal width
Degree, and the length direction of each rectangular strip is perpendicular to specified measurement direction, also, the length of at least two fixture is not
Together, the length of the sliding part is more than any one at least two fixture.
According to a kind of embodiment of this aspect of the present invention, the fixture more than two, each fixture with it is described
The sliding friction area of sliding part or the triboelectric series of its frictional layer are not symmetric on the specified measurement direction.
Another aspect of the present invention is to propose a kind of method for measuring object kinematic parameter in one-dimensional square, including such as
Lower step：Testee is fixed on a sliding part；At least two fixtures are arranged on a tested direction specified
Arrange and fix, the sliding part can move on the tested direction and produce slip with least two fixture respectively
Friction, the sliding part and at least two fixture include frictional layer, the frictional layer of the sliding part and it is described at least
The frictional layer of two fixtures is made up of the material with differentiated friction electricity sequence；The sliding friction of each fixture and the sliding part
The triboelectric series of area or its frictional layer is not symmetric on the specified measurement direction；Measure the sliding part with it is described
Caused electric signal between at least two fixtures, and according to the direction of motion of the electric signal acquisition testee.
According to a kind of embodiment of this aspect of the present invention, in addition to：The slip is obtained according to the electric signal
At the time of part slides at least two fixture, with reference to the spacing between at least two fixture, the quilt is obtained
Survey speed of the object on the tested direction.
According to a kind of embodiment of this aspect of the present invention, the fixture more than two, methods described also includes：
The acceleration of the testee is calculated according to speed of the measured sliding part between multiple fixtures.
Another aspect of the present invention is to propose a kind of device for measuring object kinematic parameter in one-dimensional square, its feature
It is, including strip is presented in a sliding part and a pectination fixture, the sliding part, the pectination fixture includes one
Parallel to the multiple strip broach specified the side in tested direction and extended perpendicularly out from side, the sliding part and the pectination are consolidated
Determining part includes frictional layer, and the frictional layer of the sliding part is with the frictional layer to pectination fixture by with differentiated friction electricity
The material of sequence is formed；The amplitude of caused electric signal is unequal between the sliding part and the pectination fixture.
According to a kind of embodiment of this aspect of the present invention, the sliding part is only made up of a kind of conductive material, from
Body had not only served as frictional layer but also had served as conductive layer, the pectination fixture it is stacked by substrate, conductive layer and frictional layer from bottom to up and
Into.
According to a kind of embodiment of this aspect of the present invention, the width of the multiple broach is equal, and its length
It is distributed in glide direction asymmetric.
According to a kind of embodiment of this aspect of the present invention, the material of the frictional layer is polytetrafluoroethylene (PTFE), poly- two
Methylsiloxane, polyimides, poly- diphenyl propane carbonic ester, polyethylene terephthalate, aniline-formaldehyde resin, poly- first
Aldehyde, ethyl cellulose, polyamide, melamino-formaldehyde, polyethylene glycol succinate, cellulose, cellulose ethanoate, gather oneself two
Sour glycol ester, polydiallyl phthalate, regenerated fiber sponge, polyurethane elastomer, styrene-acrylonitrile copolymer copolymer, benzene
Ethylene butadiene copolymers, staple fibre, polymethacrylates, polyvinyl alcohol, polyester, polyisobutene, polyurethane flexible sea
Silk floss, polyethylene terephthalate, polyvinyl butyral resin, phenolic resin, neoprene, butadiene-propylene copolymer, day
T PNR, polyacrylonitrile, poly- (vinylidene chloride-co- acrylonitrile), polyethylene the third diphenol carbonate, polystyrene, polymethyl
It is sour methyl esters, makrolon, polymeric liquid crystal copolymer, polychlorobutadiene, polyacrylonitrile, poly bis phenol carbonate, CPPG, poly-
CTFE, polyvinylidene chloride, polyethylene, polypropylene, polyvinyl chloride and Parylene.
Another aspect of the present invention is to propose a kind of method for measuring object kinematic parameter in one-dimensional square, including such as
Lower step：Testee is fixed on a sliding part；The sliding part is set to be slided on a pectination fixture, the slip
Part is only made up of a kind of conductive material, itself had not only been served as frictional layer but also had been served as conductive layer, the pectination fixture from bottom to up by
Substrate, conductive layer and frictional layer are stacked forms, also, the width of the multiple broach is equal, and its length is distributed in slip
It is asymmetric on direction；Caused electric signal between the sliding part and the multiple strip broach is measured, and according to the electric signal
Obtain the direction of motion of the testee.
According to a kind of embodiment of this aspect of the present invention, also comprise the following steps：Obtained according to the electric signal
At the time of the sliding part slides into the multiple broach, with reference to the spacing between the multiple broach, the measured object is obtained
Speed of the body on the tested direction.
According to a kind of embodiment of this aspect of the present invention, also comprise the following steps：According to measured sliding part
Speed between multiple broach calculates the acceleration of the testee.
Another aspect of the present invention is to propose a kind of device for measuring object kinematic parameter in the two-dimensional direction, its feature
It is, including just the cross sliding part of " ten " font and a square fixture, the cross sliding part is by mutual
Orthogonal and centrosymmetric four travelling arms are formed, and the fixture includes substrate, conductive layer and the frictional layer stacked gradually, institute
State frictional layer to be made up of multiple fricting strips in strip, each fricting strip is distributed in four sides of the fixture；The fixation
Position of the middle part of part without the fricting strip is provided with the groove of trellis, and the trellis includes the multiple units arranged in length and breadth
Lattice, the right-angled intersection position of the sliding part are provided with a projection, and the projection is contained in the groove, so that the cunning
Moving part can slide in the groove along groove, so as to which four travelling arms and the frictional layer for making the sliding part produce
Raw sliding friction, electric signal is produced between the sliding part and the conductive layer,
For the projection of the sliding part in the groove during translation, the sliding part range of movement can cover the cunning all the time
Dynamic bar, when the summit for the unit lattice that the projection of the sliding part is located at the groove, its not with any fricting strip
It is in contact, the distribution of the fricting strip is so that caused when the side translation of cell of the sliding part along the groove
Electric signal is different.
According to a kind of embodiment of this aspect of the present invention, each fricting strip is rectangular, and its length direction is vertical
In the side of the fixture, its width is then equal.
According to a kind of embodiment of this aspect of the present invention, the length of each fricting strip is in n length value
One, the distribution of lengths of the fricting strip of each side of fixture is identical for left and right, identical up and down, wherein n >=2.
According to a kind of embodiment of this aspect of the present invention, the trellis is matrix pattern, n=2, the left and right side
Top, left and right side bottom, upper and lower side left part, the fricting strip of upper and lower side right part form four groups, each fricting strip group
Include the Liang Ge groups of identical length distribution, i.e. left and right Liang Ge groups or upper and lower Liang Ge groups, the length point of differentiated friction bar group
The positive sequence and inverted order of cloth are different, correspond to different binary values respectively.
Another aspect of the present invention is to propose a kind of method for measuring object kinematic parameter in the two-dimensional direction, including such as
Lower step：Testee is fixed on one just on the cross sliding part of " ten " font, the sliding part by it is mutually orthogonal and in
Symmetrical four travelling arms of the heart are formed；The sliding part is set to be slided on a square fixture, the fixture includes
Substrate, conductive layer and the frictional layer stacked gradually, the frictional layer are made up of multiple fricting strips in strip, each fricting strip distribution
In four sides of the fixture；Position of the middle part of the fixture without the fricting strip is provided with the groove of trellis,
The trellis includes the multiple cells arranged in length and breadth, and the right-angled intersection position of the sliding part is provided with a projection, and this is convex
Block is contained in the groove, so that the projection of the sliding part can slide in the groove along groove, the cunning
The projection of moving part is in the groove during translation, and the sliding part range of movement can cover the slider bar all the time, when the cunning
When the projection of moving part is located at the summit of the unit lattice of the groove, it is not in contact with any fricting strip, described to rub
The distribution of rub piece make it that caused electric signal is different when the side translation of cell of the sliding part along the groove；Survey
Caused electric signal between the sliding part and the frictional layer is measured, and the two dimension of the testee is obtained according to the electric signal
The direction of motion.
According to a kind of embodiment of this aspect of the present invention, also comprise the following steps：Obtained according to the electric signal
At the time of the sliding part slides into the multiple fricting strip, with reference to the spacing between the fricting strip, the measured object is obtained
Speed of the body on the tested direction.
According to a kind of embodiment of this aspect of the present invention, also comprise the following steps：According to measured sliding part
Speed between multiple fricting strips calculates the acceleration of testee.
（Three）Beneficial effect
The principle of the method and apparatus of measurement object of which movement parameter proposed by the present invention is to be based on sliding friction nanometer generating
Machine, by participating in the material area of friction in control structure every time, with the change of certain rule, thereby indicate that motion
Direction, therefore the present invention can be achieved self-driven motion-sensing, including position, displacement vector, velocity, acceleration,
Motion path etc., principle is simple, and making material is also relatively conventional.
Brief description of the drawings
Figure 1A~1E is the basic principle schematic of the triboelectricity of the present invention；
The charge inducing of two conductive layers, electricity therebetween when Fig. 2A, Fig. 2 B and Fig. 2 C respectively illustrate triboelectricity
Pressure and electric current versus time curve；
Fig. 3 A and Fig. 3 B are the structural representations of the first embodiment of the present invention；
Fig. 4 A and Fig. 4 C are respectively illustrated in first embodiment of the invention caused by sliding part from left side to the right Slideslip
Voltage signal and current signal, Fig. 4 B and Fig. 4 D are respectively illustrated in implementation profiteer when sliding part 101 breaks away to the left from right side
Voltage signal and current signal caused by dynamic；
Fig. 5 shows the structural representation of the second embodiment of the present invention；
Fig. 6 and Fig. 7 is the structural representation of the third embodiment of the present invention, and wherein Fig. 6 is front view, and Fig. 7 is along Fig. 6
A-A ' lines diagrammatic cross-section；
Fig. 8 A and Fig. 8 B respectively illustrate current waveform and the production that binary system " 0011 " is produced in third embodiment of the invention
The voltage waveform of raw binary system " 0101 ".
Embodiment
Triboelectricity device comprises at least two slide units that can mutually slide, and each slide unit includes friction
Layer and conductive layer, frictional layer are attached on conductive layer.The frictional layer of two parts is mutually opposing and is in close contact, and can be
External force effect is lower mutually to be slided.The material of two frictional layers has different triboelectric serieses.When one of frictional layer is conduction
When material is formed, then the frictional layer simultaneous can play a part of conductive layer, can now omit corresponding conductive layer.
Here, our reference picture 1A~1E describe the general principle for the triboelectricity that the present invention is utilized.As Figure 1A~
Shown in 1E, triboelectricity device includes upper and lower two slide units, is referred to as the first slide unit and the second sliding part herein
Part.First slide unit includes the first frictional layer 11 and the first conductive layer 12, and the first frictional layer 11 is in lower section.Second slide unit
Including the second frictional layer 21 and the second conductive layer 22, the second frictional layer 21 is up.First frictional layer 11 and the second frictional layer 21
It is mutually opposing and be in close contact.Wherein, the first frictional layer 11 is made up of the first friction material, and the second frictional layer 12 is by the second friction
Material is formed.First frictional layer 11 and the second frictional layer 21 have different triboelectric serieses.
" triboelectric series " refers to the sequence carried out according to attraction degree of the material to electric charge, and two kinds of materials are mutually rubbing
The moment of wiping, on rubbing surface negative electrical charge material surface of polarity calibration from triboelectric series be transferred in triboelectric series polarity compared with
Negative material surface.So far, the mechanism of electric charge transfer can be also completely explained without a kind of unified theory, is typically recognized
For this electric charge transfer is related to the surface work function of material, is realized by the transfer of electronics or ion on the contact surface
Electric charge transfer.It should be noted that triboelectric series is a kind of statistical result based on experience, i.e. two kinds of materials are in the sequence
Difference is more remote, and the probability that the positive negativity of produced electric charge and the sequence are consistent after contact is bigger, and actual result by
To the influence of many factors, for example material surface roughness, ambient humidity and whether there is Relative friction etc..In two kinds of triboelectric serieses
The material that polarity the has differences electric charge that its surface is carried after contact rubs and separates is referred to as " contact electric charge ", contacts electric charge
The surface of material is only distributed in, distribution depth capacity is about only 10 nanometers.It should be noted that the symbol of contact electric charge is net
The symbol of electric charge, i.e., the aggregation zone of negative electrical charge is there may be in some areas of the material surface with positive contact electric charge, but
The symbol of whole surface net charge is just.
As shown in Figure 1A to Fig. 1 E, there is external force to make the first slide unit above relative to underlying second
When relative slide occurs for slide unit, sliding friction is produced between the first frictional layer 11 and the second frictional layer 21.Due to first
Second friction material of the first friction material of frictional layer 11 and the second frictional layer 21 has differences in triboelectric series, triggers table
Surface charge shifts.
Have between first conductive layer 12 and the second conductive layer 22 to shield due to the He of the first frictional layer 11 of separation dislocation
Potential be present between the electric field that surface charge is formed in second frictional layer 21, i.e. the first conductive layer 12 and the second conductive layer 22
Difference, as shown in Figure 1B.Under the effect of this electrical potential difference, when being connected between the first conductive layer 12 and the second conductive layer 22 by external circuit
When, electronics flows to the second conductive layer 22 from the first conductive layer 12 and produces extrinsic current.
This process continues to that two frictional layers are completely superposed, and during coincidence as shown in Figure 1 C, does not have electrical potential difference between two conductive layers,
So as to be flowed without electronics.
First slide unit continues to move under external force, then two parts depart from coincidence status.In order to shield due to dividing
The electric field formed from surface charge in the first frictional layer 11 and the second frictional layer 21 of dislocation, electronics is from the second conductive layer 22
Flow to the first conductive layer 12 and produce extrinsic current, as seen in figs. 1D and 1E.
Fig. 2A, Fig. 2 B and Fig. 2 C respectively illustrate the first conductive layer 12 and charge inducing on the second conductive layer 22, the two
Between voltage and current versus time curve.As shown in Figure 2 A, the first slide unit and the second slide unit coincidence face
The process that product constantly increases, charge transfer quantity gradually increase, until reaching maximum when being completely superposed.Afterwards, the two, which is produced, divides
From dislocation, electric charge reverse transition, the decline of curve is shown as on Q-t curves.V-t curves as shown in Figure 2 B, if two slide units
Relative potentials are 0 when staggering completely, and the process that the first slide unit and the second slide unit overlapping area constantly increase, electric charge turns
Shifting amount gradually increases, and relative potentials gradually increase, until reaching maximum when being completely superposed.Afterwards, the two produces separation dislocation,
Electric charge reverse transition, relative potentials reduce, and the decline of curve is shown as on V-t curves.As shown in Figure 2 C, first slides I-t curves
The process that dynamic component and the second slide unit overlapping area constantly increase, electric charge persistently shift, until when being completely superposed.Weight completely
Two conductive layers do not have electrical potential difference so as to be flowed without electronics during conjunction, I=0.Afterwards, the two produces separation dislocation, electric charge reverse transition, I
Also it is reverse.
The time interval of each signal period can be obtained from output signal, corresponding corresponding component size, this can be obtained
During speed.Simultaneously as the geomery design of part, can be produced corresponding to various sizes of signal output.Root
According to the tandem of output unlike signal, directional information can be obtained.According to the calculating of multiple signal period medium-rates, coordinate direction
Information, the kinematic parameter of whole motion process can be obtained（Including displacement, speed, acceleration etc.）.
The present invention is electric according to the geometric parameter of the frictional layer of triboelectricity device, and caused by it according to above-mentioned principle
Pressure or current signal obtain direction, distance, speed and the acceleration that the first slide unit moves relative to the second slide unit
Deng kinematic parameter.Thus, when testee is fixed on into one of the first slide unit and the second slide unit, with regard to energy
Enough obtain its kinematic parameter relative to another slide unit.
The thickness of the frictional layer 21 of first frictional layer 11 and second has no significant effect to the implementation result of the present invention, respectively
Kind thickness is all suitable for technical scheme.But currently preferred frictional layer is film, thickness be 100nm~
1mm, preferably 1 μm~500 μm, more preferably 10 μm~300 μm, most preferably 50 μm~100 μm.
[embodiment]
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, to this hair
It is bright to be described in further detail.
1. first embodiment
Fig. 3 A and Fig. 3 B are the structural representations of the first embodiment of the present invention.The embodiment is one and is used for measuring object
The device of kinematic parameter in one-dimensional square.As shown in figs.3 a and 3b, it is solid to include a sliding part 101, one first for the device
Determine part 201 and second fixture 202.First fixture 201 and the second fixture 202 are on a tested direction specified
Arrange and fixed, if its spacing is constant spacing D.The tested direction specified in figure is X-direction.Sliding part 101 can be in institute
State motion on tested direction and produce sliding friction with the first fixture 201 and the second fixture 202 respectively.B points of Fig. 3 A and Fig. 3
The situation that sliding part 101 is slided and slided from right to left from left to right is not illustrated that.
According to the present invention, sliding part and fixture include frictional layer, the frictional layer of sliding part 101 and fixture 201,
202 frictional layer is made up of the material with differentiated friction electricity sequence.Also, the surface of each frictional layer is as the sliding part and admittedly
Determine to produce between part the sliding friction surface of sliding friction.The back side of each frictional layer（I.e. not as the one side of sliding friction surface）
With a conductive layer.When the material of frictional layer is conductive material, the frictional layer and can play conductive layer, thus, can
To omit corresponding conductive layer.
According to the present invention, when sliding part 101 on specified tested direction with identical speed and the first fixture 201 and
When second fixture 202 produces sliding friction, produced between the conductive layer of the conductive layer of sliding part 101 and the first fixture 201
Electrical signal amplitude, caused electrical signal amplitude is not between the conductive layer of sliding part 101 and the conductive layer of the second fixture 202
It is equal.As it was previously stated, in order that the current signal is unequal, rubbing for the first fixture 201 and the second fixture 202 can be made
Wipe layer and use the material of identical triboelectric series, but make its sliding friction area different, the first fixture 201 and the can also be made
The frictional layer of two fixtures 202 has identical sliding friction area, but is made up of the material of differentiated friction electricity sequence.
For example, in the first embodiment shown by Fig. 3 A and Fig. 3 B, the first fixture 201 and the second fixture 202
Frictional layer uses the material of identical triboelectric series, and sliding part 101, the first fixture 201 and the second fixture 202 are rectangle
Bar, each rectangular strip has equal width, but length can be different, and the length direction of each rectangular strip is perpendicular to specified survey
Measure direction.When the length of sliding part, the first fixture and the second fixture is respectively l1、l2、l3And meet l1≥l2>l3, can be with
Make sliding part that the first fixture 201 and the second fixture 202, the first fixture 201 and second be completely covered in sliding process
The friction area that fixture 202 produces sliding friction with sliding part 101 is the first fixture 201 and the second fixture 202
Surface area.It is therefore, sliding because the frictional layer of the first fixture 201 and the second fixture 202 uses the material of identical triboelectric series
Moving part 101 and the first fixture 201, the second mutually voltage and current value caused by slip of fixture 202 are different.
Fig. 4 A and Fig. 4 C are respectively illustrated when voltage signal and electric current caused by sliding part 101 from left side to the right Slideslip
Signal；Fig. 4 B and Fig. 4 D are then respectively illustrated when voltage signal and electric current caused by sliding part 101 from right side to the left Slideslip
Signal.It can be seen that sliding part slide from left to right and from right to left caused by electric signal be it is different, therefore,
According to the difference of electric signal, the glide direction of sliding part 101 in the X direction can be known.
If it is +X direction from left to right that we, which set, when voltmeter or ammeter display output signal intensity are to successively decrease
During trend, the direction of motion of sliding part 101 is+x directions；When voltmeter or ammeter display output signal intensity are increasing trend,
The direction of motion of sliding part 101 is -X direction.
In addition, according to measurement voltage or current signal, sliding part 101 can also be obtained and slide into two Hes of fixture 201
At the time of 202, thus, according to the space D between two fixtures 201,202, movement of the sliding shoe in X-direction can also be measured
Speed.That is v=D/ | t1-t2|, v is speed, t1And t2It is the abscissa of two rising edge signals and time shaft intersection point respectively.
The first embodiment of the present invention is the foregoing described, however, according to the other embodiment of the present invention, of fixture
Number at least two, can also many more than two.When fixture more than two, it is still preferred to equidistantly arranged for each fixture and solid
It is scheduled in the measurement direction specified.Equally, the triboelectric series of the sliding friction area of each fixture and sliding part or its frictional layer
It is not symmetric on specified measurement direction.That is, it should ensure that when sliding part slides from left to right and slides from right to left
The waveform of caused voltage or current signal differs when dynamic, to distinguish the direction of slip.When two fixtures, it is grown
Degree is different, and when multiple fixtures, its length arrangement mode is asymmetric manner.
When device includes more than two fixture, speed that can be according to measured sliding part between multiple fixtures
Spend to calculate the acceleration of sliding part.
2. second embodiment
Fig. 5 shows the structural representation of the second embodiment of the present invention, and the embodiment is also to be used to measure motion in one dimension
Direction and the device of speed.But the embodiment is unlike first embodiment, including four fixtures, and four are solid
Part is determined by side strip to form an entirety.
Specifically, the device of the embodiment includes a sliding part 301 and a pectination fixture 30, sliding part 301
Presentation strip is simultaneously above, and pectination fixture 30 is located at lower section, and including one parallel to the side for specifying tested direction
With the four strip broach extended perpendicularly out from side.Strip broach and sliding part 301 are rectangular, and its width is equal, its
Length direction is perpendicular to specified measurement direction.Sliding part 301 can be slided along specified measurement direction on pectination fixture 30
It is dynamic.The layer structure of sliding part 301 and pectination fixture 30 can use the foregoing structure as shown in Figure 1A~1E, so as to
Voltage or current signal are produced in sliding process.In the second embodiment shown in Fig. 5, sliding part 301 is only by a kind of conductive
Material is formed, i.e., its own both serves as frictional layer, serves as conductive layer again.Pectination fixture 30 is from bottom to up by substrate 304, conduction
Layer 303 and frictional layer 302, which are stacked, to be formed.
The material of frictional layer 302 has different triboelectric serieses from the material of conductive sliding part 301, such as can select to gather
Tetrafluoroethene, dimethyl silicone polymer, polyimides, poly- diphenyl propane carbonic ester, polyethylene terephthalate, aniline
Formaldehyde resin, polyformaldehyde, ethyl cellulose, polyamide, melamino-formaldehyde, polyethylene glycol succinate, cellulose, cellulose
Acetic acid esters, polyethylene glycol adipate, polydiallyl phthalate, regenerated fiber sponge, polyurethane elastomer, styrene
Propylene copolymer, styrene-butadiene-copolymer, staple fibre, polymethacrylates, polyvinyl alcohol, polyester, polyisobutene,
Polyurethane flexible sponge, polyethylene terephthalate, polyvinyl butyral resin, phenolic resin, neoprene, butadiene third
Alkene copolymer, natural rubber, polyacrylonitrile, poly- (vinylidene chloride-co- acrylonitrile), polyethylene the third diphenol carbonate, polyphenyl second
Alkene, polymethyl methacrylate, makrolon, polymeric liquid crystal copolymer, polychlorobutadiene, polyacrylonitrile, poly bis phenol carbon
Acid esters, CPPG, polytrifluorochloroethylene, polyvinylidene chloride, polyethylene, polypropylene, polyvinyl chloride and Parylene.With negative pole
The material of frottage electrode sequence is preferably polystyrene, polyethylene, polypropylene, poly- diphenyl propane carbonic ester, poly- terephthaldehyde
Sour glycol ester, polyimides, polyvinyl chloride, dimethyl silicone polymer, polytrifluorochloroethylene and polytetrafluoroethylene (PTFE) and Parylene,
Including Parylene C, Parylene N, Parylene D, Parylene HT or Parylene AF4。
As long as the material of conductive layer 303 can be capable of conductive characteristic to possess, metal or conductive oxide are may be selected from,
Conventional metal includes gold, silver, platinum, aluminium, nickel, copper, titanium, chromium or selenium, and the alloy formed by above-mentioned metal, more preferably
Metallic film, such as aluminium film, golden film, copper film etc.；Conventional conductive oxide includes tin indium oxide ITO, the half of ion doping type
Conductor and conductive organic matter.Intimate surface contact of the conductive layer 303 preferably with corresponding frictional layer 302, to ensure the biography of electric charge
Defeated efficiency.Frictional layer 302 and corresponding conductive layer 303 can be passed through conductive tape or conductive slurry（Such as silver paste）It is bonded in one
Rise, or frictional layer 302 is prepared by way of spin coating in the outer surface of conductive layer 303, to realize the close contact of the two.More
For inner surface of the material of conductive layer 303 in corresponding frictional layer 302 by way of deposition preferably is formed into film,
Film thickness can be 50nm~500 μm, preferably 100nm~500nm.Specific deposition process can be electron beam evaporation,
Plasma sputtering, magnetron sputtering or evaporation, preferably magnetron sputtering or plasma sputtering.
The material of substrate 304 is preferably rigid, can be conventional with this area to provide preferably support and fixing function
Insulate organic board, such as polymethyl methacrylate plate（English abbreviation PMMA）, polyethylene board（English abbreviation PE）, makrolon
Plate（English abbreviation PC）, polyvinyl chloride panel（English abbreviation PVC）, epoxy resin board, glass mat etc..
Layers of material in second embodiment is readily applicable to the other embodiment of the present invention or other embodiments.
The width of four broach is preferably equal, and length be distributed in glide direction it is asymmetric.As shown in Figure 5
Example in, the length of each broach is from left to right to distribution of successively decreasing, such as the ratio of its length can be 8:4:2:1 passs successively
Subtract.But it is to be understood that the present invention is not limited to such a distribution of lengths.
In second embodiment as shown in Figure 5, when sliding part 301 slips over pectination fixture 30, four can be sequentially output
Group signal, if signal intensity is successively decreased successively, the direction of motion is +X direction；If signal intensity is incremented by successively, motion side
To for -X direction.By four groups of spacing between signal and broach, the speed in 4 intervals can be obtained.According to this four groups
Speed does Velocity-time v-t curves, it can be determined that the motion conditions of whole process.If speed v is basically unchanged, at the uniform velocity
Motion, average value is the speed of its uniform motion.It is to accelerate linear motion for motion if v is linear with t, its
Slope is acceleration magnitude.Thus, can be to obtain every kinematic parameter of the sliding part relative to pectination fixture.
3. 3rd embodiment
The device of the present invention can also be generalized in the measurement of two dimensional motion.It is real below by reference to the 3rd of Fig. 6 and Fig. 7 the
Example is applied to be illustrated.Fig. 6 is front view, and Fig. 7 is the diagrammatic cross-section along the A-A ' lines in Fig. 6.
As shown in Figure 6 and Figure 7,3rd embodiment is the device for measuring two dimensional motion parameter.The device also includes one
Individual fixture 40 and a sliding part 401.Testee is fixed on sliding part, except that, the sliding part of the embodiment
401 be the cross sliding part 401 of just " ten " font, and fixture 40 is square.Cross sliding part 401 can also be regarded as
It is to be made up of mutually orthogonal and centrosymmetric four travelling arms.
The material of the layer structure of the fixture of the embodiment and each layer is similar with second embodiment, that is, includes stacking gradually
Substrate 404, conductive layer 403 and frictional layer 402.Frictional layer 402 is made up of multiple fricting strips in strip, and each fricting strip is only
It is distributed in four sides of square fixture 40.Preferably, as illustrated, the rectangular strip of fricting strip, and length direction
Perpendicular to the side of square fixture 40.The recessed of sphere of movements for the elephants shape is provided with position of the middle part of fixture 40 without fricting strip
Groove 405, i.e. groove 405 are viewed from above being in sphere of movements for the elephants shape.Accordingly, the right-angled intersection position of sliding part 401 is provided with one
Projection 406, the projection 406 can be just contained in groove 405, so that sliding part 401 can be in groove 405 along recessed
Groove slides.
Groove 405 can be formed in conductive layer 403, it is also possible to expanding in substrate 404.
When sliding part 401 by slip of the projection 406 in groove 405 to move when, its four travelling arms can with it is solid
The frictional layer 402 for determining part 40 produces sliding friction, so as to produce curtage letter between sliding part 401 and conductive layer 403
Number.The length of four travelling arms of sliding part 401 should be guaranteed that when the translation in sphere of movements for the elephants connected in star 405 of sliding part 401, its
Range of movement can cover the slider bar on the side where it all the time.For example, when cross sliding part moves to bottom, thereon
The top of square slider bar should be higher than that the top edge of fricting strip.The situation of other slider bars is similar.
In order to distinguish sliding part 401 in the direction of motion along matrix pattern groove, the fricting strip of frictional layer 402 is formed
Distribution of lengths sliding part should be caused along current signal caused by the different motion path of matrix pattern groove and the direction of motion or
Voltage signal is different.
As an example, in the 3rd embodiment, each side sets multiple fricting strips, each fricting strip from side to
Internal vertical extends and forms the strip of a rectangle.The width of each fricting strip is equal and arranged at equal intervals.Also, fricting strip
Position make to obtain cross sliding part 401 when moving to four summits and the central point of matrix pattern groove, cross sliding part
401 do not contact with any one fricting strip.
Also, in this embodiment, the length of each fricting strip or be the first length, or be the second length, the first length
It is different with the second length.If the first length is more than the second length, then can the fricting strip of the first length be referred to as strip, the second length
Fricting strip is billet.So, the arrangement of fricting strip is reduced to the arrangement of its length.Thus, when sliding part 401 is slided on fricting strip
When dynamic, two kinds of different electric signal waveforms can be produced.Both different signal waveform cans align a binary system respectively
Position, for example, signal waveform caused by strip is designated as into 1, signal waveform caused by billet is designated as 0.
Due to being limited to the direction of groove, sliding part 401 can only be in horizontal or vertical direction translational, therefore, when its motion
When, either the friction area only up and down between two travelling arms and the fricting strip of upper and lower two sides changes, or have
Friction area between the fricting strip of two sides of the travelling arm of left and right two and left and right changes.Therefore, as long as by upper and lower sides
The length arrangement of the fricting strip on side is arranged to different from the arrangement of the length of the fricting strip of left and right side, it is possible to which distinguishing sliding part is
Moved in the horizontal direction on motion or vertical direction.Further, it is positive go back in one direction to distinguish slider bar to be
It is counter motion, the fricting strip of each side should be arranged to asymmetrical arrangement in length arrangement.
Based on this, as a kind of example, in this embodiment, as illustrated, there are 8 fricting strips each side, from side
The center of the edge on side to side is distributed 4 fricting strips, and the fricting strip length distribution of arranged on left and right sides is identical, and upper and lower two
The fricting strip length distribution of side is identical.In order to distinguish the direction of motion of sliding part, each fricting strip is divided into four groups, i.e.,：Left and right sides
The fricting strip on side top is one group, the fricting strip of left and right side bottom is one group, the fricting strip of upper and lower side left part is one group, on
The fricting strip of lower side right part is one group.Each fricting strip group includes the Liang Ge groups of identical length distribution, i.e., left and right is two small
Group or upper and lower Liang Ge groups, include 4 fricting strips per group, no matter the length of differentiated friction bar group is distributed from positive sequence and inverted order
Differ.
As an example, the fricting strip length distribution of left and right side is set to " short long long-short length "（From top to bottom,
Positive sequence）, that is, correspond to binary system " 0111 ", the fricting strip of upper and lower side is set to " short long-short length is grown " by " 0010 "（From the right side
To the right side, positive sequence）, that is, correspond to binary system " 0011 ", " 0101 ".Accordingly, its inverted order be respectively " 1110 ", " 0100 ", " 1100 ",
" 1010 ", i.e. its binary system no matter positive sequence and inverted order align are different.
So, the different motion direction of sliding part can produce different curtage waveforms.For example, Fig. 8 A and Fig. 8 B
Respectively illustrate the current waveform for producing binary system " 0011 " and the voltage waveform for producing binary system " 0101 ".By that will slide
Part is converted into corresponding binary digital signal with rubbing in electric signal caused by friction, it is possible to by judging data signal
To judge the direction of motion of sliding part.
In the 3rd embodiment, the motion square of sliding part 401 is then real with first and second from the measurement of, speed and acceleration
It is identical to apply example, i.e., at the time of sliding into the multiple fricting strip according to the electric signal acquisition sliding part 401, with reference to described
Spacing between fricting strip, obtain speed of the testee on the tested direction.Existed according to measured sliding part
Speed between multiple fricting strips calculates the acceleration of testee.
It should be noted that the present invention is not limited to the number of fricting strip and length distribution in above-described embodiment, for example, for field
Font groove, the fricting strip number of each side can be 6,8,10 etc., the length of each fricting strip can with more than two,
Such as there can be first, second, third length, etc..When the quantity of length value is n, then its different distribution of lengths pair
Value value should be entered in different n.As long as it was previously stated, ensure left and right side top, left and right side bottom, upper and lower side left part, on
The positive sequence and inverted order of the fricting strip length distribution of lower side right part are different.
For further, groove of the invention can also be not limited to other lattice of matts or any ranks number
Shape, such as nine grids.It should be understood, however, that the intersection point position of cross sliding part（Projection）Positioned at each of trellis groove
During the summit of cell, it is not in contact with any fricting strip；Also, when the intersection point portion of cross sliding part is along trellis groove
During the side translation of cell, different fricting strips, which is distributed, make it that caused current signal or voltage signal are different.
Particular embodiments described above, the purpose of the present invention, technical scheme and beneficial effect are carried out further in detail
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., the protection of the present invention should be included in
Within the scope of.
Claims (22)
1. a kind of device for measuring object kinematic parameter in one-dimensional square, including a sliding part (101), at least two fixations
Part (201,202), at least two fixture (201,202) arrange on a tested direction specified and fixed, institute
Stating sliding part (101) can move on the tested direction and be produced respectively with least two fixture (201,202)
Sliding friction, it is characterised in that
The sliding part (101) and at least two fixture (201,202) include frictional layer, the sliding part (101)
The frictional layer of frictional layer and at least two fixture (201,202) be made up of the material with differentiated friction electricity sequence；
The amplitude of caused electric signal is unequal between the sliding part (101) and at least two fixture (201,202).
2. the device of measurement object kinematic parameter in one-dimensional square as claimed in claim 1, it is characterised in that rubbed described in each
The one side not as sliding friction surface for wiping layer is respectively connected with a conductive layer；Or the sliding part (101), it is described at least
The material of at least one frictional layer is conductive material in two fixtures (201,202), the frictional layer being constructed from a material that be electrically conducting
Directly as conductive layer, other conductive layers are not connected to, and
Caused electric signal refers to the slip between the sliding part (101) and at least two fixture (201,202)
Caused electric signal between conductive layer between the conductive layer of part (101) and at least two fixture (201,202).
3. as claimed in claim 2 measurement object kinematic parameter in one-dimensional square device, it is characterised in that it is described at least
The frictional layer of two fixtures (201,202) uses the material of identical triboelectric series, but sliding friction area is different；Or
The frictional layer of at least two fixture (201,202) has identical sliding friction area, but by differentiated friction electricity sequence
Material is formed.
4. as claimed in claim 3 measurement object kinematic parameter in one-dimensional square device, it is characterised in that it is described at least
The frictional layer of two fixtures (201,202) uses the material of identical triboelectric series, the sliding part (101), described at least two
Individual fixture (201,202) is rectangular strip, and each rectangular strip has an equal width, and the length direction of each rectangular strip perpendicular to
The tested direction specified, also, the length of at least two fixture (201,202) is different, the length of the sliding part (101)
Degree is more than any one at least two fixture.
5. the device of measurement object kinematic parameter in one-dimensional square as claimed in claim 3, it is characterised in that the fixation
Part more than two, each fixture are tested with the sliding friction area of the sliding part or the triboelectric series of its frictional layer in specified
It is not symmetric on direction.
A kind of 6. method for measuring object kinematic parameter in one-dimensional square, it is characterised in that comprise the following steps：
Testee is fixed on a sliding part (101)；
At least two fixtures (201,202) are arranged and fixed, the sliding part (101) on a tested direction specified
It can be moved on the tested direction and produce sliding friction with least two fixture (201,202) respectively, it is described
Sliding part (101) and at least two fixture (201,202) include frictional layer, the frictional layer of the sliding part (101)
It is made up of with the frictional layer of at least two fixture (201,202) the material with differentiated friction electricity sequence；Each fixture with
The sliding friction area of the sliding part or the triboelectric series of its frictional layer do not divide on the tested direction specified in symmetrical
Cloth；
Caused electric signal between the sliding part (101) and at least two fixture (201,202) is measured, and according to this
Electric signal obtains the direction of motion of the testee.
7. the method for measurement object kinematic parameter in one-dimensional square as claimed in claim 6, it is characterised in that also include：
At the time of at least two fixture (201,202) being slid into according to the electric signal acquisition sliding part (101),
With reference to the spacing between at least two fixture (201,202), the testee is obtained on the tested direction
Speed.
8. the method for measurement object kinematic parameter in one-dimensional square as claimed in claim 7, it is characterised in that the fixation
Part more than two, methods described also include：Described in being calculated according to speed of the measured sliding part between multiple fixtures
The acceleration of testee.
A kind of 9. device for measuring object kinematic parameter in one-dimensional square, it is characterised in that including a sliding part (301) and
Strip is presented in one pectination fixture (30), the sliding part (301), and the pectination fixture (30) includes one parallel to finger
The side in surely tested direction and the multiple strip broach extended perpendicularly out from side,
The sliding part (301) and the pectination fixture (30) include frictional layer, the frictional layer of the sliding part (301) with
The frictional layer of the pectination fixture (30) is made up of the material with differentiated friction electricity sequence；The sliding part (301) with it is described
The amplitude of caused electric signal is unequal between pectination fixture (30).
10. the device of measurement object kinematic parameter in one-dimensional square as claimed in claim 9, it is characterised in that the cunning
Moving part (301) is only made up of a kind of conductive material, itself had not only been served as frictional layer but also had been served as conductive layer；The pectination fixture (30)
Formed from bottom to up by substrate (304), conductive layer (303) and frictional layer (302) are stacked.
11. the device of measurement object kinematic parameter in one-dimensional square as claimed in claim 10, it is characterised in that described more
The width of individual broach is equal, and its length be distributed in glide direction it is asymmetric.
12. the device of measurement object kinematic parameter in one-dimensional square as described in claim 9 or 10, it is characterised in that institute
The material of frictional layer (302) is stated as polytetrafluoroethylene (PTFE), dimethyl silicone polymer, polyimides, poly- diphenyl propane carbonic ester, poly-
Ethylene glycol terephthalate, aniline-formaldehyde resin, polyformaldehyde, ethyl cellulose, polyamide, melamino-formaldehyde, poly- second two
Alcohol succinate, cellulose, cellulose ethanoate, polyethylene glycol adipate, polydiallyl phthalate, regenerated fiber
Sponge, polyurethane elastomer, styrene-acrylonitrile copolymer copolymer, styrene-butadiene-copolymer, staple fibre, polymethylacrylic acid
Ester, polyvinyl alcohol, polyester, polyisobutene, polyurethane flexible sponge, polyethylene terephthalate, polyvinyl butyral resin,
Phenolic resin, neoprene, butadiene-propylene copolymer, natural rubber, polyacrylonitrile, poly- (vinylidene chloride-co- acrylonitrile),
Polyethylene the third diphenol carbonate, polystyrene, polymethyl methacrylate, makrolon, polymeric liquid crystal copolymer, polychlorostyrene fourth
Diene, polyacrylonitrile, poly bis phenol carbonate, CPPG, polytrifluorochloroethylene, polyvinylidene chloride, polyethylene, polypropylene,
Polyvinyl chloride or Parylene.
A kind of 13. method for measuring object kinematic parameter in one-dimensional square, it is characterised in that comprise the following steps：
Testee is fixed on a sliding part (101)；
The sliding part (101) is set to be slided on a pectination fixture (30), the sliding part (301) is only by a kind of conductive material
Form, itself not only served as frictional layer but also served as conductive layer, the pectination fixture (30) is from bottom to up by substrate (304), conduction
Layer (303) and frictional layer (302), which are stacked, to be formed, also, the pectination fixture (30) includes one parallel to specified tested side
To side and multiple strip broach for being extended perpendicularly out from side, the width of the multiple strip broach is equal, and its length
It is distributed in glide direction asymmetric；
Caused electric signal between the sliding part (101) and the multiple strip broach is measured, and is obtained according to the electric signal
The direction of motion of the testee.
14. the method for measurement object kinematic parameter in one-dimensional square as claimed in claim 13, it is characterised in that also include
Following steps：At the time of sliding into the multiple broach according to the electric signal acquisition sliding part (301), with reference to described more
Spacing between individual broach, obtain speed of the testee on the tested direction.
15. the method for measurement object kinematic parameter in one-dimensional square as claimed in claim 14, it is characterised in that also include
Following steps：The acceleration of the testee is calculated according to speed of the measured sliding part between multiple broach.
16. a kind of device for measuring object kinematic parameter in the two-dimensional direction, it is characterised in that including just " ten " font
Cross sliding part (401) and a square fixture (40), the cross sliding part (401) is by mutually orthogonal and center pair
Four travelling arms claimed are formed, and the fixture includes substrate (404), conductive layer (403) and the frictional layer stacked gradually
(402),
The frictional layer (402) is made up of multiple fricting strips in strip, and each fricting strip is distributed in the four of the fixture (40)
Individual side；
Position of the middle part of the fixture (40) without the fricting strip is provided with the groove (405) of trellis, the trellis bag
The multiple cells arranged in length and breadth are included,
The right-angled intersection position of the sliding part (401) is provided with a projection (406), and the projection (406) is contained in described recessed
In groove (405), so that the sliding part (401) can slide in the groove (405) along groove, so as to make described
Four travelling arms of sliding part (401) produce sliding friction with the frictional layer (402), are led in the sliding part (401) with described
Electric layer produces electric signal between (403),
The projection (406) of the sliding part (401) is in the groove (405) interior translation, sliding part (401) range of movement
All the time the slider bar can be covered,
When the summit for the unit lattice that the projection (605) of the sliding part (401) is located at the groove, it is not with appointing
What fricting strip is in contact,
The distribution of the fricting strip causes when the side translation of cell of the sliding part (401) along the groove (405)
Caused electric signal is different.
17. the device of measurement object kinematic parameter in the two-dimensional direction as claimed in claim 16, it is characterised in that described each
Fricting strip is rectangular, and its length direction is then equal perpendicular to the side of the fixture, its width.
18. the device of measurement object kinematic parameter in the two-dimensional direction as claimed in claim 17, it is characterised in that described each
The length of fricting strip is one in n length value, and the distribution of lengths of the fricting strip of each side of fixture is identical for left and right,
It is identical up and down, wherein n >=2.
19. the device of measurement object kinematic parameter in the two-dimensional direction as claimed in claim 18, it is characterised in that the lattice
Shape is matrix pattern, n=2, the friction on left and right side top, left and right side bottom, upper and lower side left part, upper and lower side right part
Bar forms four groups, and each fricting strip group includes the Liang Ge groups of identical length distribution, i.e. left and right Liang Ge groups or upper and lower two
Individual group, the positive sequence and inverted order of the length distribution of differentiated friction bar group are different, correspond to different binary values respectively.
A kind of 20. method for measuring object kinematic parameter in the two-dimensional direction, it is characterised in that comprise the following steps：
Testee is fixed on one just on the cross sliding part (401) of " ten " font, the sliding part (401) is by mutually just
Hand over and centrosymmetric four travelling arms are formed；
The sliding part (401) is set to be slided on a square fixture (40), the fixture includes what is stacked gradually
Substrate (404), conductive layer (403) and frictional layer (402), the frictional layer (402) are made up of multiple fricting strips in strip, respectively
Fricting strip is distributed in four sides of the fixture (40)；The middle part of the fixture (40) does not have the position of the fricting strip
The groove (405) for being provided with trellis is put, the trellis includes the multiple cells arranged in length and breadth, the cross of the sliding part (401)
Crossover location is provided with a projection (406), and the projection (406) is contained in the groove (405), so that the sliding part
(401) projection (406) can slide in the groove (405) along groove, the projection (406) of the sliding part (401)
In the groove (405) interior translation, sliding part (401) range of movement can cover the slider bar all the time, when the cunning
When the projection (605) of moving part (401) is located at the summit of the unit lattice of the groove, it does not connect with any fricting strip
Touch, the distribution of the fricting strip causes the side translation when institute when cell of the sliding part (401) along the groove (405)
Caused electric signal is different；
Caused electric signal between the sliding part (101) and the frictional layer (402) is measured, and institute is obtained according to the electric signal
State the two dimensional motion direction of testee.
21. the method for measurement object kinematic parameter in the two-dimensional direction as claimed in claim 20, it is characterised in that also include
Following steps：At the time of sliding into the multiple fricting strip according to the electric signal acquisition sliding part (401), with reference to described
Spacing between fricting strip, obtain speed of the testee on the tested direction.
22. the method for measurement object kinematic parameter in the two-dimensional direction as claimed in claim 21, it is characterised in that also include
Following steps：The acceleration of testee is calculated according to speed of the measured sliding part between multiple fricting strips.
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| CN110346596B (en) * | 2019-07-30 | 2021-08-10 | 南京邮电大学 | Self-driven friction nano motion sensing device and sensing method thereof |
| CN111060716B (en) * | 2019-12-28 | 2021-05-28 | 浙江大学 | Self-driven acceleration sensor based on friction nano generator |
| CN113848179B (en) * | 2021-09-23 | 2023-11-10 | 北京理工大学 | Experimental device for measuring sliding or separating movement between contact surfaces |
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